复合材料纤维铺放自动编程技术研究

纤维铺放是近年来发展最快、最有效的复合材料构件成形技术之一。结合所研制的纤维铺放设备，研究复合材料纤维铺放自动编程技术。在已知芯模曲面和纤维铺放路径的基础上，运用机器人学原理建立了纤维铺放机构各杆件坐标系，设计了空间机构运动学逆问题的简化求解算法，针对纤维铺放路径上的每个控制点，得到纤维铺放机构各运动关节位置和姿态。根据传动机构的组成，计算出各驱动步进电机的转角，从而生成纤维铺放机运动控制指令代码。基于CATIA开发平台CAA，开发了复合材料纤维铺放仿真软件模块。

Research on automatic programming technology of fiber placement for composite materials

Fiber placement is one of the most rapidly developed and most effective manufacturing technologies for forms of composite components. Combined with the existing fiber placement equipments, research on automatic programming technology for composite fiber placement is conducted. On the basis of the already known core mold geometric model and fiber placement path, the coordinates of the arms on fiber placement mechanisms are established by applying robotics theory. Moreover, a simplified solution for the reverse problems of spatial mechanism kinematics is proposed. Position and orientation of arms are obtained based on single reference points on placement path. According to structure of gearing mechanism, revolving angels of each driving step motor are calculated and then the codes to control motion of fiber placement equipments are achieved. In addition, a software module for fiber placement simulation is developed with CATIA CAA.